Image data processing method and electronic device

ABSTRACT

An image data processing method is provided for a mobile terminal. The method includes receiving by a first electronic device first image data of an environment collected by a second electronic device; determining one or more motion parameters of the second electronic device based on the first image data; determining a latency between a moment the first image data being transmitted by the second electronic device and a moment the first image data being received by the first electronic device; compensating the first image data based on the one or more motion parameters of the second electronic device and the latency as determined, to generate second image data; and displaying the second image data through the first electronic device.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application claims priority of Chinese Patent Application No.201710884233.6, filed on Sep. 26, 2017, the entire contents of which arehereby incorporated by reference.

FIELD OF THE INVENTION

The present disclosure generally relates to the field of displaytechnology and, more particularly, relates to an image data processingmethod and an electronic device thereof.

BACKGROUND

With more and more applications of robots in various fields, the rangein which information can be exchanged between robots and user terminals(clients) becomes broader and broader. For instance, clients and robotscan make remote video calls. That is, a client can control the behaviorof a robot through the remote control to check the scene observed by therobot. To achieve this, the robot may collect image data based on theinstructions issued from the client, process and compress the collectedimage data, and send it to the client.

However, there is a time delay between the moment when the client sendsthe instructions to the robot and the moment when the robot receives theinstructions. At the same time, the robot needs to compress and transmitthe video data, which also causes delay. Therefore, the moment when theclient receives the image data is not exactly the moment when the imagedata is collected by the robot, but rather later than that. This willnot only seriously affect the effects of applications of robots inmanufacturing, resources exploration and exploitation, disaster reliefand risk reduction, medical services, home entertainments, military, andaerospace, but also lower user experience.

BRIEF SUMMARY OF THE DISCLOSURE

A first aspect of the present disclosure is an image data processingmethod. The method includes receiving, by a first electronic device,first image data of an environment collected by a second electronicdevice; determining one or more motion parameters of the secondelectronic device based on the first image data; determining a latencybetween a moment the first image data being transmitted by the secondelectronic device and a moment the first image data being received bythe first electronic device; compensating the first image data based onthe one or more motion parameters of the second electronic device andthe latency as determined, to generate second image data; and displayingthe second image data through the first electronic device.

A second aspect of the present disclosure is an electronic device. Theelectronic device includes a processor supported by the electronicdevice, and a display device communicating with the processor. Theprocessor receives first image data of an environment collected by asecond electronic device, determines one or more motion parameters ofthe second electronic device based on the first image data, determines alatency between a moment the first image data being transmitted by thesecond electronic device and a moment the first image data beingreceived by the electronic device, and compensates the first image databased on the one or more motion parameters of the second electronicdevice and the latency as determined, to generate second image data.Further, the display device displays the generated second image data.

A third aspect of the present disclosure is an image data processingmethod. The method includes collecting first image data of anenvironment by a second electronic device, the first image data beingcollected for transmission to a first electronic device; determining oneor more motion parameters of the second electronic device based on thefirst image data; determining a latency between a moment the first imagedata being transmitted by the second electronic device and a moment thefirst image data being received by the first electronic device;compensating the first image data based on the one or more motionparameters of the second electronic device and the latency asdetermined, to generate second image data; and sending the second imagedata to the first electronic device.

Other aspects of the present disclosure can be understood by thoseskilled in the art in light of the description, the claims, and thedrawings of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

The following drawings are merely examples for illustrative purposesaccording to various disclosed embodiments and are not intended to limitthe scope of the present disclosure.

FIG. 1-1 illustrates an architectural schematic diagram of an imageprocessing method consistent with the disclosed embodiments;

FIG. 1-2 illustrates an architectural schematic diagram of another imageprocessing method consistent with the disclosed embodiments;

FIG. 2 illustrates a flow chart of an image data processing methodconsistent with the disclosed embodiments;

FIG. 3 illustrates a schematic diagram of an image collected at a timeT1 consistent with the disclosed embodiment;

FIG. 4 illustrates a schematic diagram of an image collected at a timeT2 consistent with the disclosed embodiment;

FIG. 5 illustrates another schematic diagram of an image collected at atime T2 consistent with the disclosed embodiment;

FIG. 6 illustrates a flow chart of another image data processing methodconsistent with the disclosed embodiments;

FIG. 7 illustrates a schematic diagram of an image at a time T3consistent with the disclosed embodiment;

FIG. 8 illustrates a schematic diagram of an overlap of an image at atime T1 and at a time T3 consistent with the disclosed embodiment;

FIG. 9 illustrates a structural diagram of an electronic deviceconsistent with disclosed embodiments; and

FIG. 10 illustrates a structural diagram of another electronic deviceconsistent with disclosed embodiments.

DETAILED DESCRIPTION

The present disclosure will be described with respect to specificembodiments and with reference to certain terms described as follows.

A robot is a machine device that automatically performs work, and thatnot only is able to accept human instructions, but also runspre-programmed programs or acts according to the principles set out bythe artificial intelligence technology.

A first electronic device may include various computing devices used byusers, such as smartphones, tablets, and wearable devices, etc.

A position and posture refers to a combination of a position and aposture of a robot end effector in a specified coordinate system.

A depth of field refers to a range of the measured front-to-backdistance of an object to be recorded in which the front edge of a cameralens or another imager can obtain a clear image.

Reference will now be made in detail to specific embodiments of thepresent disclosure, which are illustrated in the accompanying drawings.

In one embodiment, the image data processing method is performed on theside of the first electronic device. The first electronic device may bea smartphone, a tablet, a laptop, a wearable device (such as a pair ofsmart glasses, a smartwatch, etc.), or any other user device that storesapplications for image data processing. The applications may includeapplications specific for image processing, or other applications storedin a mobile terminal. The operating system in the mobile terminal may bean Android®, iOS®, or any other operating system (e.g., Linux for mobiledevices, Blackberry's QNX, etc.) developed by third parties formicrocomputer architecture that includes at least a processor and amemory.

FIG. 1-1 illustrates an architectural schematic diagram of an imageprocessing method consistent with the present embodiment. Through anetwork server, a first electronic device may receive first image dataof the environment collected by a second electronic device (e.g., arobot) in a first collection position and posture. Based on the receivedfirst image data, the first electronic device may determine displayparameters corresponding to the first image data for the moment when thefirst image data is received. Based on the determined displayparameters, the first electronic device may process the first image datato generate second image data, and display the generated second imagedata.

Reference will now be made in detail to an image data processing methodconsistent with the accompanying architecture schematic diagram of FIG.1-1 of the present embodiment. A flow chart of the image data processingmethod consistent with the embodiment is illustrated in FIG. 2,description of which is provided as follow.

Step S101: The first electronic device receives the first image data ofthe environment collected by the second electronic device in the firstcollection position and posture.

In certain embodiments, the first electronic device may send aninstruction for image data collection to the second electronic device.Based on the instruction, the second electronic device may collect thefirst image data of the environment in the first collection position andposture. The second electronic device may then send the collected firstimage data to the first electronic device through the network, to allowthe first image data to be received by the first electronic device.

The first collection position and posture may be a position and postureof the second electronic device when receiving the instruction, or aposition and posture provided by and included in the instruction sent bythe first electronic device for image data collection.

Step S102: The first electronic device determines, based on the firstimage data, display parameters corresponding to the first image data forthe moment when the first image data is received.

In certain embodiments, the first electronic device may determine, basedon the first image data, a second collection position and posture of thesecond electronic device for the moment when the first image data isreceived, and determine display parameters that match the secondcollection position and posture for the moment when the first image datais displayed.

In the above-disclosed embodiment, at least the followingimplementations may be implemented by the first electronic device todetermine the collection position and posture of the second electronicdevice for the moment when the first image data is received.

In one implementation, upon receiving the first image data, the firstelectronic device may extract motion parameters of the second electronicdevice included in the first image data, and determine a latency (i.e.,a transmission delay time) caused by the data transmission and theinstruction transmission between the first electronic device and thesecond electronic device. Based on the motion parameters and thelatency, the first electronic device may update the recorded collectionposition and posture (e.g., the first collection position and posture inthe record) of the second electronic device, to generate the secondcollection position and posture.

The collected motion parameters of the second electronic device mayinclude at least the moving speed and the moving direction of the secondelectronic device.

The latency may be determined as follows: the first electronic devicemay determine, based on the received first image data, the time when thefirst electronic device receives the first image data, and the time whenthe second electronic device sends the first image data. Based on thedifference between the time when the first electronic device receivesthe first image data and the time when the second electronic devicesends the first image data, the latency may be determined.

In another implementation, the first electronic device may train amachine learning model based on a plurality of historical image datareceived from the second electronic device, and determine the motionparameters of the second electronic device and the latency based on themachine learning model. Based on the determined motion parameters andthe latency, the recorded collection position and posture of the secondelectronic device may be updated to obtain the second collectionposition and posture.

To train the machine learning model, the first electronic device maybuild training samples and corresponding target states based on aplurality of samples of historical image data sent from the secondelectronic device. The training samples may include the time when thesecond electronic device sends data, the time when the first electronicdevice receives the data, the collection position and posture in whichthe second electronic device collects the data, and the motionparameters of the second electronic device. The corresponding targetstates may include the motion parameters of the second electronic deviceat the moments when the first electronic device receives the data andthe latency. The machine learning model may then be trained to allow itto predict the corresponding target states based on the trainingsamples. The received image data may then be fed into the trainedmachine learning model to predict the target states (e.g., the motionparameters of the second electronic device at the moment when the firstelectronic device receives the data and the latency).

In another implementation, upon receiving the first image data, thefirst electronic device may extract the second collection position andposture of the second electronic device included in the first imagedata. In this implementation, the second electronic device may determineits own second collection position and posture, and include thedetermined second collection position and posture in the first imagedata to send to the first electronic device. The second electronicdevice may determine the second collection position and posture based onthe above-described method of training a machine learning model, orbased on its own motion parameters and latency.

Based on the above description, after determining the second collectionposition and posture of the second electronic device for the moment whenthe first image data is received, the first electronic device maydetermine the amount of change of the collection position and posture ofthe second electronic device based on the first collection position andposture and the second collection position and posture. Based on theamount of change of the collection position and posture, the firstelectronic device may determine display compensation parameters. Thedisplay compensation parameters may include the depth of fieldcompensation parameters, which relate to a motion parameter of thesecond electronic device corresponding to a varying depth of field ofthe second electronic device, and the angle of view compensationparameters, which relate to a motion parameter of the second electronicdevice corresponding to a varying angle of view of the second electronicdevice. By compensating the display parameters of the first image datawith the display compensation parameters based on one or more motionparameters of the second electronic device, display parameters thatmatch the second collection position and posture for the moment ofdisplaying the first image data may be obtained.

Step S103: Based on the determined display parameters, the first imagedata is processed to generate second image data.

In certain embodiments, the first electronic device may revise the firstimage data based on the determined display parameters, includingrevising the depth of field and the angle of view of the first imagedata to generate the second image data.

For example, when the second electronic device moves straight forward,the angle of view of the first image data may not change when the firstimage data is being processed. By changing the depth of field of thefirst image data, a portion of (such as the center area) the imagecorresponding to the first image data may be enlarged to a certaindegree. As an example, as shown in FIG. 3, at time T1 when the secondelectronic device collects the first image data at the first collectionposition and posture, the image size corresponding to the first imagedata may be A. In the process of processing and sending the first imagedata to the first electronic device, there may be a data processingdelay and a data transmission delay. During the period ΔT of the dataprocessing delay and the data transmission delay, the position of thesecond electronic device may have changed from a position correspondingto the first collection position and posture to a position correspondingto the second position and posture. The time when the second electronicdevice collects image data in the second collection position and posturemay be time T2 (T2=T1+ΔT). Compared to the first image data collected bythe second electronic device in the first collection position andposture at T1, the image data collected by the second electronic devicein the second collection position and posture at time T2 may show nochange in image content but a larger image size. As shown in FIG. 4, bydisplay zoom-based processing of the first image data collected by thesecond electronic device in the first collection position and posture atT1, the size of the image, displayed at T2, that corresponds to thefirst image data may be B that is larger than A. During the process, aspecific portion (e.g., the center area) of the first imagecorresponding to the first image data may be enlarged (i.e., zoomed-in).

Similarly, when the second electronic device moves straight backward, inprocessing the first image data, the angle of view of the first imagedata may not change. By changing the depth of field of the first imagedata, the first image or a portion of the first image (e.g., the centerarea) corresponding to the first image data may be reduced (i.e.,zoomed-out) to a certain degree, as shown in FIG. 5.

Step S104: The second image data may be displayed.

The first electronic device may display the second image data throughits own display device (e.g., a screen).

In another embodiment, the image data processing method is performed onthe side of the second electronic device. The second electronic devicemay be an electronic device (e.g., a robot, etc.) that is able tocollect image, process data, and transmit data. The second electronicdevice may store an application for image data processing. Theapplication may be a specialized application specific for image dataprocessing.

FIG. 1-2 illustrates an architectural schematic diagram of an imageprocessing method consistent with the present embodiment. A secondelectronic device (e.g., a robot) may collect first image data of theenvironment at a first collection position and posture. Based on thefirst image data, the second electronic device may determine displayparameters for the first image data for the moment when the first imagedata is received by a first electronic device. Based on the determineddisplay parameters, the second electronic device may process the firstimage data to generate second image data, and send the generated secondimage data to the first electronic device through the network.

Reference will now be made in detail to an image data processing methodconsistent with the accompanying architecture schematic diagram of FIG.1-2 of the present embodiment. A flow chart of the image data processingmethod consistent with the embodiment is illustrated in FIG. 6,description of which is provided as follow.

Step S201: The second electronic device collects the first image data ofthe environment in the first collection position and posture.

In certain embodiments, the first electronic device may send aninstruction for image data collection to the second electronic device.The second electronic device may collect the first image data of theenvironment in the first collection position and posture based on theinstruction.

The first collection position and posture may be a position and postureof the second electronic device when receiving the instruction, or aposition and posture provided by and included in the instruction sent bythe first electronic device for image data collection.

Step S202: The second electronic device determines, based on the firstimage data, display parameters corresponding to the first image data forthe first electronic device for the moment when the first image data isreceived by the first electronic device.

In certain embodiments, the second electronic device may determine,based on the first image data, a second collection position and postureof the second electronic device for the moment when the first image datais received by the first electronic device, and determine displayparameters that match the second collection position and posture for themoment when the first electronic device displays the first image data.

In the above-disclosed embodiments, at least the followingimplementations may be implemented by the second electronic device todetermine the collection position and posture of the second electronicdevice for the moment when the first image data is received.

In one implementation, based on its own motion parameters and thelatency, the second electronic device may update its collection positionand posture in the record to obtain the second collection position andposture.

The motion parameters of the second electronic device may include atleast the moving speed and the moving direction of the second electronicdevice.

One approach to determine the latency: the first electronic device maydetermine, based on the received first image data, the time when itreceives the first image data, and the time when second electronicdevice sends the first image data, and based on a difference between thetime when the first electronic device receives the first image data andthe time when the second electronic device sends the first image data,the latency may be determined.

In another implementation, the second electronic device may train amachine learning model based on a plurality of historical image datasent to the first electronic device, and determine the motion parametersof the second electronic device and the latency based on the machinelearning model. Based on the determined motion parameters and thelatency, the recorded collection position and posture of the secondelectronic device may be updated to obtain the second collectionposition and posture.

To train the machine learning model, the second electronic device maybuild training samples and target states based on a plurality of samplesof historical image data sent to the first electronic device. Thetraining samples may include the time when the second electronic devicesends data, the time when the first electronic device receives the data,the collection positions and postures used by the second electronicdevice to collect the data, and motion parameters of the secondelectronic device. The corresponding target states may include themotion parameters of the second electronic device at the moments whenthe first electronic device receives the data, and the latency. Themachine learning model may then be trained to predict correspondingtarget states based on the training samples set up in the training. Thereceived image data may then be fed into the trained machine learningmodel to predict the target states, such as the motion parameters of thesecond electronic device at the moment when the first electronic devicereceives the data, and the latency.

In another implementation, the second electronic device may determineits second collection position and posture based on predefinedstrategies.

Based on the above description, after determining the second collectionposition and posture of the second electronic device for the moment whenthe first electronic device receives the first image data, the secondelectronic device may determine the amount of change of the collectionposition and posture of the second electronic device based on the firstcollection position and posture and the second collection position andposture. Based on the amount of change of the collection position andposture, the second electronic device may further determine displaycompensation parameters. The display compensation parameters may includethe depth of field compensation parameters and the angle of viewcompensation parameters. By compensating the display parameters of thefirst image data with the display compensation parameters, displayparameters that match the second collection position and posture for themoment of displaying the first image data by the first electronic devicemay then be obtained.

Step S203: The second electronic device processes the first image databased on the determined display parameters to generate second imagedata.

In certain embodiments, the second electronic device may revise thefirst image data according to the determined display parameters,including revising the depth of field and the angle of view of the firstimage data to generate the second image data.

For example, when the second electronic device makes a turn, at themoment the first image data is being processed, both the angle of viewand the depth of field of the first image data have changed. The firstimage corresponding to the first image data collected by the secondelectronic device at time T1, is shown in FIG. 3, and the second imagecorresponding to the image data collected by the second electronicdevice at time T3 is shown in FIG. 7. T3 is the time when the firstelectronic device receives the first image data. From FIG. 3 and FIG. 7,it can be seen that at time T3, the image data collected by the secondelectronic device may include part of the content of the first imagedata, as shown in FIG. 8. Therefore, in order to make the first imagedata received by the first electronic device to match the image datacollected by the second electronic device at time T3, an overlappingportion of the image data collected by the second electronic device atT3 and the first image data collected by the second electronic device atT1 may be isolated. For the isolated image data, the collection positionand posture of the second electronic device at T1 is different from thatat T3. Therefore, at T3, the display parameters (e.g., depth of fieldand angle of view) of the isolated image data may have changed. Byrevising the isolated image data based on the revised (or compensated)display parameters, the second image data that match the collectionposition and posture of the second electronic device at T3 may beobtained.

Step S204: The second image data is sent to the first electronic device.

In certain embodiments, the second electronic device may send the secondimage data to the first electronic device to allow the second image datato be displayed on the first electronic device.

In the above-disclosed embodiments, during the image data-basedcommunications between the first electronic device and the secondelectronic device, the second electronic device may also send its ownposition information and moving direction information to the firstelectronic device. This may allow the first electronic device tosynchronize the map of the location of the second electronic device inreal time during the remote communication between the first electronicdevice and the second electronic device.

FIG. 9 illustrates a structural diagram of an electronic device (e.g., afirst electronic device) consistent with disclosed embodiments. As shownin the figure, the electronic device includes a processor 10, a displaydevice 11, a storage medium 13, and an external communication interface14. The processor 10, the display device 11, the storage medium 13, andthe external communication interface 14 are all connected via acommunication bus 12.

In operation, the processor 10 is provided for receiving first imagedata of the environment collected by a second electronic device in afirst collection position and posture, determining, based on the firstimage data, display parameters corresponding to the first image data forthe moment of receiving the first image data, and processing the firstimage data based on the determined display parameters to generate secondimage data.

The display device 11 is provided for displaying the second image data.

FIG. 10 illustrates a structural diagram of another electronic device(e.g., a second electronic device) consistent with disclosedembodiments. As shown in the figure, the electronic device includes aprocessor 20, a transceiver 21, a storage medium 23, and at least oneexternal communication interface 24. The processor 20, the transceiver21, the storage medium 23, and the external communication interface 24are all connected with a communication bus 22.

In operation, the processor 20 is provided for collecting first imagedata of the environment in a first collection position and posture,determining, based on the first image data, display parameterscorresponding to the first image data for the moment when a firstelectronic device receives the first image data; and processing thefirst image data based on the determined display parameters to generatesecond image data.

The transceiver 21 is provided for sending the second image data to thefirst electronic device.

It should be understood by those skilled in the art that theimplementation of all or part of the steps of the above-describedembodiments may be accomplished through the program orinstruction-related hardware. The aforementioned programs may be storedin a computer-readable storage medium. When executed, the programs mayallow implementation of all or part of the steps of methods of thedisclosed embodiments. The aforementioned storage medium may include amobile storage device, a read-only memory (ROM), a random access memory(RAM), a magnetic disk, an optical disk, or any other medium that canstore program code.

Alternatively, the aforementioned integrated units of the presentdisclosure may also be stored in a computer-readable storage medium ifit is implemented in the form of a software function module and sold orused as an independent product. Based on such understanding, thetechnical solutions of the embodiments of the present disclosure, oressentially the part that contributes to the conventional technology,can be embodied in the form of a software product that may be stored ina storage medium and include instructions that, when executed, cause acomputing device (e.g., a personal computer, a server, a network device,etc.) to implement all or part of the methods described in the variousembodiments of the present invention. The aforementioned storage mediummay include a mobile storage device, a ROM, a RAM, a magnetic disk, anoptical disk, or any other medium that can store program code.

Accordingly, the various embodiments of the present disclosure furtherprovide a computer storage medium that stores executable instructions.The executable instructions, when executed by a processor, cause theabove-described image data processing methods to be implemented.

In the disclosed embodiments, display parameters corresponding to thefirst image data for the moment when the first electronic devicereceives the first image data is first determined. Based on the displayparameters, the first image data is further processed to generate thesecond image data. In this way, the time delay caused by the instructiontransmission and data transmission between the first electronic deviceand the second electronic device, the time delay caused by the secondelectronic device in processing the image data for sending to the firstelectronic device may be compensated. After the compensation, the imagedata received by the first electronic device is current (i.e., themoment of receiving the image data) image data, which thus enhances userexperience.

Although the present disclosure has been described as above withreference to the specific embodiments, it should be understood thatthese embodiments are not constructed as limiting the presentdisclosure. Various modifications and variations may be made by thoseskilled in the art without departure from the spirit and scope of thepresent disclosure, and the protection scope of the present disclosureis defined by the appended claims.

What is claimed is:
 1. An image data processing method, comprising:receiving, by a first electronic device, first image data of anenvironment collected by a second electronic device; determining, by thefirst electronic device, one or more motion parameters, including amoving speed and a moving direction relative to the environment, of thesecond electronic device based on the first image data; determining alatency between a moment the first image data being transmitted by thesecond electronic device and a moment the first image data beingreceived by the first electronic device; compensating the first imagedata based on the one or more motion parameters of the second electronicdevice and the latency as determined, to generate second image data bythe first electronic device; and displaying the second image datathrough the first electronic device.
 2. The image data processing methodaccording to claim 1, wherein the step of determining the one or moremotion parameters of the second electronic device further includes:determining a varying depth of field parameter of the second electronicdevice.
 3. The image data processing method according to claim 1,wherein the step of determining the one or more motion parameters of thesecond electronic device further includes: determining a varying angleof view parameter of the second electronic device.
 4. The image dataprocessing method according to claim 1, wherein the step of compensatingthe first image data based on the one or more motion parameters of thesecond electronic device and the latency as determined further includes:training a machine learning model, based on a plurality of historicalimage data received from the second electronic device so as to determinethe one or more motion parameters of the second electronic device andsaid latency based on the machine learning model.
 5. The image dataprocessing method according to claim 1, wherein the step of determiningthe one or more motion parameters of the second electronic devicefurther includes: determining a plurality of collection positions andpostures of the second electronic device from the first image data. 6.The image data processing method according to claim 1, wherein the stepof determining said latency comprises: determining a time when the firstimage data is sent out from the second electronic device; determining atime when the first image data is received by the first electronicdevice; and determining the latency based on a difference between thetime when the first image data is sent out from the second electronicdevice and the time when the first image data is received by the firstelectronic device.
 7. An electronic device, comprising: a processorsupported by the electronic device, wherein the processor receives firstimage data of an environment collected by a second electronic device,determines one or more motion parameters, including a moving speed and amoving direction of the second electronic device relative to theenvironment based on the first image data, determines a latency betweena moment the first image data being transmitted by the second electronicdevice and a moment the first image data being received by theelectronic device, and compensates the first image data based on the oneor more motion parameters of the second electronic device and thelatency as determined, to generate second image data; and a displaydevice communicating with the processor, wherein the display devicedisplays the generated second image data.
 8. An image data processingmethod, comprising: collecting first image data of an environment by asecond electronic device, the first image data being collected fortransmission to a first electronic device; determining one or moremotion parameters of the second electronic device, including a movingspeed and a moving direction relative to the environment, based on thefirst image data by the second electronic device; determining a latencybetween a moment the first image data being transmitted by the secondelectronic device and a moment the first image data being received bythe first electronic device by the second electronic device;compensating the first image data based on the one or more motionparameters of the second electronic device and the latency asdetermined, to generate second image data by the second electronicdevice; and sending the second image data to the first electronicdevice.
 9. The imaging apparatus according to claim 8, wherein the stepof determining the one or more motion parameters of the secondelectronic device further includes: determining a varying depth of fieldparameter of the second electronic device.
 10. The imaging apparatusaccording to claim 8, wherein the step of determining the one or moremotion parameters of the second electronic device further includes:determining a varying angle of view parameter of the second electronicdevice.
 11. The imaging apparatus according to claim 8, wherein the stepof compensating the first image data based on the one or more motionparameters of the second electronic device and the latency as determinedfurther includes: training a machine learning model, based on aplurality of historical image data received from the second electronicdevice so as to determine the one or more motion parameters of thesecond electronic device and said latency based on the machine learningmodel.
 12. The imaging apparatus according to claim 8, wherein the stepof determining the one or more motion parameters of the secondelectronic device further includes: determining a plurality ofcollection positions and postures of the second electronic device fromthe first image data.